Method for operating a driving assistant for a motor vehicle

Abstract

The invention relates to a method for operating a driving assistant (3) for a motor vehicle (1), comprising: detecting (S1) an obstacle (10) located between the motor vehicle (1) and a destination (14) for the motor vehicle (1), by evaluating sensor data (21) of at least one sensor device (4) of the motor vehicle (1), wherein the obstacle (10) is arranged at a distance from a roadway on which the motor vehicle (1) is located and is located at least partially in a driving path (9) of the motor vehicle (1); while the motor vehicle (1) is moving towards the detected obstacle (10), checking (S2) whether the detected obstacle (10) is still within a detection range (22) of the at least one sensor device (4) or is outside the detection range (22); if the detected obstacle (10) is outside the detection range (22), operating (S3) the driving assistant (3) in such a way that moving towards the obstacle (10) is at least interrupted by stopping the motor vehicle (1) and a predefined measure (24) is activated. (Fig. 2)

Description

[0001] Method for operating a driving assistant for a motor vehicle

[0002] The invention relates to a method for operating a driving assistant for a motor vehicle. Furthermore, the invention relates to a control device for a motor vehicle, a motor vehicle, and a computer program product for implementing such a method.

[0003] A motor vehicle can have a driving assistant configured to move the motor vehicle from a starting location, where it is currently located, at least partially automatically, in particular fully automatically, to a destination or destinations where the motor vehicle is to be parked. The driving assistant can be configured, for example, for trained parking, i.e., in a learning mode, it can learn a driving trajectory, e.g., a parking trajectory, to the destination and, in a follow-up mode, follow this trajectory at least partially automatically, in particular fully automatically.

[0004] During operation of the driving assistant, there may be at least one obstacle between the starting location and the destination. Typically, in such a case, the travel trajectory from the starting location to the destination can be adjusted, for example, i.e., changed in such a way that the obstacle is avoided. However, there are obstacles that can only temporarily represent an obstacle for the motor vehicle moving along the travel trajectory. One such obstacle is, for example, a garage door of a garage in which the destination is located that is at least partially open or is currently opening. If the garage door is a door that opens upwards as viewed in a vertical direction of the motor vehicle, such as a roller shutter or sectional door, this may not be detected or cannot be detected reliably by a sensor device of the motor vehicle.The reason for this is, for example, that the vehicle's sensor system is often designed to detect objects that are located and / or begin at the bottom, i.e., on the ground or near the ground, and not for objects that, for example, extend into the vehicle's path from above. In order to reliably detect obstacles such as the garage door as an obstacle, the driver assistant should therefore be adapted to detect obstacles that extend from above.

[0005] EP 3 173 817 A1 discloses a method for detecting and locating a garage providing at least one parking space for a motor vehicle. The motor vehicle has at least one distance sensor directed toward the surroundings of the motor vehicle. Distance data acquired by the distance sensor is evaluated to detect an opening garage door based on an opening criterion. If the opening criterion is met, the garage is detected.

[0006] DE 10 2019 134448 A1 discloses a method for operating a vehicle with a parking assistant. The parking assistant is configured to drive the vehicle along a trajectory trained using a training method. A movable obstacle is arranged at a position along the trajectory. When the vehicle subsequently follows the trajectory, a current optical sensor signal from the obstacle is detected and compared with a stored optical sensor signal to determine whether the obstacle is in a locked or unlocked position.

[0007] It is the object of the invention to provide a solution by means of which a driving assistant for a motor vehicle can be reliably operated when an obstacle protrudes into a driving path of the motor vehicle.

[0008] The problem is solved by the subject matter of the independent patent claims.

[0009] A first aspect of the invention relates to a method for operating a driving assistant, in particular a parking assistant, for a motor vehicle. The method comprises detecting an obstacle located between the motor vehicle and a destination for the motor vehicle. It is assumed that the motor vehicle is currently at a starting location. From the starting location to the destination, a travel trajectory is or has been determined, along which the motor vehicle is to travel or is traveling to the destination at least partially automatically, in particular fully automatically. The destination is located, for example, in a garage. The destination can alternatively be referred to as a destination. The destination describes, for example, a position and / or an orientation of the motor vehicle at which or in which the motor vehicle is to be parked or handed over. The destination is, for example, a handover location. Alternatively or additionally, the handover location is preferably a parking location.The driving trajectory is preferably a parking trajectory. Alternatively, the destination is an exit, for example, of a parking infrastructure, in particular an underground car park.

[0010] The obstacle is arranged at a distance from a driving surface on which the motor vehicle is located. There is therefore a minimum distance greater than zero between the driving surface and the obstacle. The minimum distance can be fixed. The obstacle is therefore not located on the driving surface. However, the obstacle can, for example, be coupled to an object that at least partially touches the driving surface. In addition, the obstacle is at least partially located in a driving path of the motor vehicle. The driving path runs along the travel trajectory to the destination and, in terms of a width perpendicular to the travel trajectory, corresponds to at least the width of the motor vehicle and in terms of height to at least the height of the motor vehicle. The width of the motor vehicle is considered in a transverse direction of the motor vehicle and the height in a vertical direction of the motor vehicle.The transverse direction and the vertical direction are arranged perpendicular to one another and perpendicular to a longitudinal direction of the motor vehicle. The motor vehicle follows the travel trajectory with its longitudinal direction as it is moved towards its destination. The obstacle is therefore located at least partially away from the driving surface in a three-dimensional path of the motor vehicle, viewed in the vertical direction, which is defined here by the driving path. For example, the obstacle can be arranged in the driving path when viewed from above in the vertical direction and / or from one side in the transverse direction, and in particular can protrude into it. This means that the obstacle is arranged in a predetermined height range, i.e. it is located in the predetermined height range. The predetermined height range is limited, for example, by a minimum height, which corresponds to the minimum distance from the driving surface, and a maximum height.It is assumed here that the minimum height is greater than zero and the maximum height, for example, corresponds at least to the height of the vehicle. Preferably, the obstacle is an at least partially open or currently opening garage door of the garage in which the destination is located. The garage door can be, for example, a roller shutter, a swing door, or a sectional door.

[0011] The obstacle is detected by evaluating sensor data from at least one sensor device of the motor vehicle. For this purpose, an obstacle detection criterion can be applied to the sensor data. The obstacle detection criterion comprises at least one algorithm and / or a rule, the implementation of which, based on the sensor data, can identify an object described by the sensor data as the obstacle. The obstacle is therefore not just any object between the motor vehicle and the destination, but rather an obstacle with which the motor vehicle could collide if it continues to move unchanged along the travel trajectory. The obstacle is therefore an object that prevents the motor vehicle from following the travel trajectory between the starting location and the destination. The sensor data can alternatively be referred to as sensor information.

[0012] Sensor data here includes, for example, camera data, radar data, lidar data, and / or ultrasound data. They can therefore describe a static or moving image of the vehicle's surroundings and / or a point cloud. The sensor data describes at least a portion of the vehicle's surroundings, and they describe at least one object in that portion of the surroundings.

[0013] The sensor device is, for example, a camera. The camera is, for example, a front camera, a side camera, and / or a rear camera. The camera is preferably designed to detect an object within a detection range of the camera. However, the detection range may be limited in the vertical direction. In particular, with a camera having a fisheye lens, for example, an object located high in the vertical direction may only be detected with distortion, whereas an object positioned on the road surface may be detected with comparatively little distortion or without distortion. The reliability of detecting objects in the environment may therefore be worse for the obstacle described than for objects or obstacles that are arranged lower in the vertical direction compared to the obstacle described above, which is detected within the scope of the method.This particularly applies to situations where the driving surface has an incline or decline, which can make it difficult or inaccurate to detect the obstacle accurately.

[0014] Alternatively or additionally, the sensor device can comprise at least one radar device, at least one lidar device, and / or at least one ultrasonic sensor. Such sensor devices are typically arranged low on the motor vehicle, viewed vertically, for example, in the area of ​​a bumper, a license plate, and / or a manufacturer's identification mark of the motor vehicle. This results in, for example, the obstacle described above moving out of the detection range of the sensor device, depending on the distance between the sensor device and the obstacle, as the motor vehicle approaches the obstacle.This may be due, for example, to the fact that the obstacle, for example the opening garage door, is typically at least temporarily at a height relative to the position of the sensor device on the motor vehicle during opening, which is so high that no or only inaccurate sensor data is available to further describe the detected obstacle. It may therefore be the case that although the obstacle is initially detected as such, detection of the object then becomes increasingly poor or even impossible as the motor vehicle moves towards the detected obstacle, so that it can no longer be reliably stated whether the object that was detected as the obstacle is still in the travel path as an obstacle or whether it has already been completely moved out of the travel path, so that a collision between the motor vehicle and the obstacle is prevented as the motor vehicle continues to drive towards the obstacle.

[0015] Therefore, the method provides that, as the motor vehicle approaches the detected obstacle, a check is performed to determine whether the detected obstacle is still within the detection range of the at least one sensor device or whether it is outside the detection range. For example, it is continuously checked whether the obstacle can still be detected or not. The detection range can alternatively be referred to as the field of view of the respective sensor device.

[0016] If it is determined that the detected obstacle is outside the detection range of the at least one sensor device, the method comprises operating the driver assistant in such a way that the approach to the obstacle is at least interrupted by stopping the motor vehicle. If it is determined that the location of the obstacle can no longer be reliably determined because it is now outside the detection range of the at least one sensor device, the motor vehicle is stopped. The detection range can also be limited in such a way that the object or obstacle is already recognized as being outside the detection range if its detection exhibits an inaccuracy that lies outside a predetermined inaccuracy range.Such an inaccuracy can occur, for example, if it is no longer possible to determine by evaluating the sensor data whether the obstacle is within the travel path or outside it and therefore no longer constitutes an obstacle. Alternatively, or in addition, the detection area can be spatially fixed. It can then be fixed, for example, by the sensor device.

[0017] A location at which the motor vehicle is stopped can be referred to as the stopping location. The stopping location of the motor vehicle is preferably the location at which it is determined that the obstacle is outside the detection range. Depending on the current speed of the motor vehicle, a braking distance may still be covered between the location at which it is determined that the obstacle is outside the detection range and the stopping location, so that the stopping location is spatially removed from the location at which it was determined that the obstacle is outside the detection range. The motor vehicle is preferably stopped as quickly or conveniently as possible after it has been detected that the obstacle is no longer within the detection range. Therefore, as soon as it is determined that the obstacle can no longer be reliably recognized as such and, for example, can no longer be located relative to the motor vehicle, the motor vehicle is initially stopped.Stopping here includes, for example, braking the motor vehicle until it comes to a standstill or braking until it is at least almost at a standstill.

[0018] In addition, the driving assistant is operated in such a way that a predetermined measure is activated. Once it has been determined that the obstacle can no longer be reliably identified as still being present, a measure is carried out in order to continue operating the driving assistant. This reacts quickly and reliably to the obstacle, which is positioned relative to the motor vehicle in such a way that it cannot be permanently detected by the motor vehicle's sensor device, but can move outside of its detection range. The motor vehicle is then first stopped and the measures required to deal with this situation are taken. In other words, a driving assistant for a motor vehicle is reliably operated despite an obstacle protruding into the driving path of the motor vehicle.

[0019] It is intended that the sensor data describe any object that is located in the vicinity of the motor vehicle and in particular within the detection range of the respective sensor device. During approach, the object is only considered an obstacle if it remains within the travel path, for example between the specified minimum height and the specified maximum height. This is the case, for example, for a partially open garage door. A fully open garage door that ends at a height that is above the travel path no longer constitutes an obstacle within the meaning of the method, since a collision between the motor vehicle and the garage door is then no longer possible. A fully closed garage door also has parts that are not spaced from the travel path.The closed garage door is therefore not an obstacle that triggers the method described above, unless the garage door opens when a vehicle stops in front of it. The method according to the invention is therefore not intended for obstacles located on the running surface along the driving trajectory, which can, for example, be avoided. Such obstacles can typically be reliably detected by the sensor device of the motor vehicle while the vehicle is moving toward them. For this reason, the method according to the invention is limited to obstacles that can be detected in the travel path at a distance from the running surface.

[0020] The method according to the invention is preferably carried out by means of a control device of the motor vehicle. The sensor data from the at least one sensor device is transmitted to the control device so that it can evaluate and further process the sensor data within the scope of the method. The method is therefore to be understood as a computer-implemented method.

[0021] An advantageous embodiment provides that the activated predetermined measure comprises the motor vehicle being moved at least partially automatically away from the obstacle until it reaches a detection location. The detection location differs from the stopping location at which the motor vehicle was stopped. At the detection location, the obstacle is again within the detection range of the at least one sensor device. If, for example, the motor vehicle is traveling forwards from the starting location towards the destination location and was stopped along this travel trajectory due to the detected obstacle at the stopping location, the motor vehicle can now be moved backwards, for example, until it reaches the detection location. Furthermore, a change of orientation between the stopping location and the detection location is possible, i.e. a steering angle greater than zero can be specified for the travel trajectory between these two locations.The movement from the stopping location to the detection location then takes place along a trajectory that deviates at least partially from the travel trajectory. Alternatively or additionally, the detection location lies on the travel trajectory, so that the motor vehicle can be moved back along the travel trajectory. For example, it can drive back along the same trajectory along which it was moved from the starting location to the stopping location.

[0022] The detection location within the meaning of the invention is defined by a position and / or an orientation of the motor vehicle at this position at which or with which the obstacle is again within the detection range. If, for example, the obstacle can no longer be fully detected at the stopping location or cannot be detected with a sufficiently high level of reliability, whereby a minimum level of reliability can be specified for this, the motor vehicle is moved away from the stopping location until it reaches a location at which the obstacle can be detected again. The detection location is preferably the spatially closest location to the stopping location at which the obstacle is again within the detection range. This ensures that a new location for the motor vehicle is selected and approached at least partially automatically, in particular fully automatically, from which the obstacle can be detected again.

[0023] By approaching the detection location, reliable sensor data can be collected that describe the obstacle and can be used to check whether the obstacle is still an obstacle or just an object in the surroundings of the vehicle.

[0024] Another exemplary embodiment provides that a distance between the stopping location and the detection location and / or a distance between the obstacle and the detection location is specified depending on the at least one sensor device. The respective distance thus depends on which sensor device contributes to detecting the obstacle. This is because the respective sensor device specifies where the detection range extends in the environment, so that a different distance must be covered depending on the location of the obstacle, the stopping location, and the detection range of the respective sensor device. The detection range can also depend on a position of the sensor device in the motor vehicle and / or its orientation within the motor vehicle.In addition, the distance between the stopping location and the detection location depends on how quickly and therefore over what distance the motor vehicle was stopped after it was detected that the obstacle was outside the detection range. If the method is carried out on the basis of camera data, for example, the distance between the stopping location and / or obstacle on the one hand and the detection location on the other hand can be selected differently than, for example, in a method carried out on the basis of ultrasound data as sensor data. This makes it possible to determine a suitable detection location for the motor vehicle. Preferably, a minimum distance between the obstacle and the detection location is predetermined depending on the sensor device and stored, for example, in the motor vehicle.

[0025] According to another exemplary embodiment, it is provided that a check is carried out at the detection location to determine whether the obstacle is still within the travel path. The motor vehicle is only moved to the destination, at least partially automatically, once the obstacle is no longer detected. At the stopping location, for example, it is possible to wait until the garage door has been fully opened or it has at least moved out of the height range critical for the motor vehicle, i.e. out of the travel path. The travel trajectory to the destination can then be continued, for example. Depending on how the detection location is arranged relative to the original travel trajectory, the at least partially automatic onward travel to the destination can deviate from the original travel trajectory or at least partially, in particular completely, overlap with it or coincide with it.Waiting until the obstacle is outside the driving path is therefore sensible, as the obstacle can be reliably detected or is being detected at the detection location. It can also be reliably determined when the obstacle is no longer an obstacle but merely an object in the vehicle's surroundings. This allows the vehicle to continue driving and complete the maneuver as quickly as possible, for example, after the garage door has been fully opened. This is particularly convenient for the vehicle user. The driving maneuver could be a parking maneuver, for example.

[0026] Another exemplary embodiment provides that a time period is recorded during which the obstacle at the detection location continues to be detected. A check is carried out to determine whether the recorded time period is greater than a time period limit. As soon as this is the case, i.e. as soon as the recorded time period is greater than the time period limit, the driving assistant of the motor vehicle is deactivated. The driving maneuver from the starting location to the destination that has already been started and at least partially completed can therefore, for example, be aborted if the time period is greater than the time period limit. This helps to prevent, for example, a situation in which the driver does not wait indefinitely in front of the obstacle at the detection location in the case of a stationary obstacle. Instead, as soon as the time period has exceeded the time period limit, the driving maneuver is assessed as no longer feasible and is subsequently aborted without reaching the destination.

[0027] The duration can alternatively be referred to as duration information or duration value. For example, a time of half a minute, 1 minute, 2 minutes, 3 minutes, 5 minutes, or in particular 10 minutes can be specified as the duration limit. As soon as the duration exceeds the duration limit, the driving assistant is switched off, i.e. deactivated, and thus aborted. Smaller or larger duration limits as well as duration limits between the specified duration limits are possible. This can therefore be useful in situations, for example, in which the obstacle does not move out of the path of the motor vehicle, for example because it is a branch overhanging a tree or a garage door whose movement was stopped during opening and not continued, for example due to a technical defect in the garage door.

[0028] In another exemplary embodiment, it is provided that the activated predetermined measure comprises requesting an activation confirmation from a user of the motor vehicle. The user is preferably a driver of the motor vehicle or another occupant of the motor vehicle. Only if the activation confirmation is detected will the motor vehicle be moved at least partially automatically from the stop location to the destination. Alternatively, it can be provided that it has been moved to the detection location, i.e. the previously described measure is carried out, and additionally the activation confirmation is requested before the motor vehicle is moved at least partially automatically from the detection location to the destination. The activation confirmation can be detected, for example, by means of an actuating device in the motor vehicle. This can be designed, for example, as a knob, switch, rotary push-button and / or key.Activation confirmation can alternatively or additionally be provided by pressing or touching an element on a touch-sensitive screen. Alternatively or additionally, activation confirmation can be provided by a voice input from the user. For this purpose, a corresponding voice input from the user can be recorded using at least one microphone in the motor vehicle. Alternatively or additionally, activation confirmation can be recognized by a gesture from the user and / or based on the user's facial expressions. Sensor data from an interior camera of the motor vehicle can be evaluated for this purpose. Various options are therefore possible for querying or determining activation confirmation.

[0029] A request for activation confirmation can also be issued in the motor vehicle, for example, via a display device in the vehicle. A check is then carried out to determine whether the requested activation confirmation can be recorded. It can therefore be provided that the driver or the other occupant determines whether the motor vehicle should continue to the destination or not. For example, as soon as the garage door is fully opened, the user can manually confirm activation, so that the driving maneuver to the destination can then continue. This is an advantageous alternative in the event that, for example, movement to the detection location is not possible and / or, for example, the user should be deduced from the detection location due to continuing inaccuracies in the sensor data.

[0030] In another exemplary embodiment, it is provided that after the activation confirmation has been detected, the sensor data at least partially describing the obstacle are disregarded. In particular, they are deleted. In the control device of the motor vehicle, which, for example, carries out the method, the sensor data describing the obstacle have previously been stored at least temporarily. The presence of this sensor data can, for example, prevent or prevent the motor vehicle from continuing to drive, since this sensor data describes an obstacle for the motor vehicle as it continues to drive. However, due to the activation confirmation, this sensor data is subsequently ignored. This means, for example, that despite the most recently detected sensor data indicating an obstacle, the motor vehicle is moved at least partially automatically along the travel trajectory and thus to the destination, since the previously detected sensor data is now ignored.It is preferred that the sensor data be permanently ignored. For example, they can be overwritten or deleted. This prevents the driver assistance system from preventing further travel based on the sensor data, even though this is desired.

[0031] In addition, one embodiment provides that the driving path is limited by a predetermined maximum height. The predetermined maximum height corresponds to a height of the motor vehicle, in particular including a height tolerance range. The height tolerance range can, for example, comprise 10 centimeters or 20 centimeters. Larger or smaller height tolerance ranges or height tolerance ranges between the stated values ​​are possible. The height tolerance range can, for example, take into account unevenness on the floor, such as a threshold at the entrance to the garage, a change in the height of the motor vehicle due to a tire model or a tire type of the motor vehicle and / or inaccuracies in the position determination of the obstacle by means of the sensor device. The accuracy of the sensor device can therefore influence the height tolerance range.The specified maximum height, which here corresponds at least to the height of the vehicle, is specified so that an object described by the sensor data is only detected as an obstacle if it is located at least partially below or at the specified maximum height in the vertical direction, but within the driving path. Therefore, if the object is so high relative to the vertical direction that it is above the maximum height and does not extend into the driving path limited by the maximum height, such an object is not detected as an obstacle because the vehicle can drive underneath it.Such an object cannot be considered an obstacle within the meaning of the invention, so that in the case of such an object, no obstacle is detected and thus the method described above is not carried out at all or is aborted, for example, by the driver assistant switching to a normal mode in which no obstacle was detected along the travel trajectory. However, as soon as the object is located in the travel path in such a way that it reaches at least to the maximum height, for example, such an object is recognized as an obstacle if it is located between the motor vehicle and the destination. This makes it clear which requirements the obstacle must meet with regard to its height.

[0032] The height of the motor vehicle can, for example, be a preset value stored in a memory device of the motor vehicle. This value can be accessed within the framework of the method.

[0033] In addition, one embodiment provides that a roof device can be positioned on a roof of the motor vehicle. A check is carried out to determine whether such a roof device is actually positioned on the roof. This can also be done manually using a corresponding driving input. If this is the case, i.e. if the roof device is positioned on the roof of the motor vehicle, the roof device is taken into account in such a way that the predefined maximum height depends on it, i.e. the predefined maximum height takes the roof device into account. The roof device can, for example, be attached to the roof of the motor vehicle by means of a holding device. The roof device is, for example, a roof box or another device for transporting at least one object. The roof device can alternatively be referred to as a roof structure.The roof system also has a certain height and may also be positioned a specified distance from the roof of the vehicle. This distance plus the height of the roof system is added to the height of the vehicle to calculate a new overall height of the vehicle. This overall height, including in particular the height tolerance range, then results in the specified maximum height.

[0034] The roof installation on the roof of the motor vehicle can, for example, be specified manually by the user, in particular by the driver, in the motor vehicle. This specification then informs the control device, for example, that the roof installation is arranged on the roof and that this increases the height of the motor vehicle compared to when driving without the roof installation. When specifying the roof installation, the user can specify its height and / or attachment so that this information can be stored in the motor vehicle, at least temporarily. Alternatively or additionally, the presence of the roof installation can, for example, be queried when the driving assistant is activated. Alternatively or additionally, a sensor device can be present which detects the presence of the roof installation and informs the control device of its presence, for example by transmitting presence information describing the presence.Alternatively or additionally, the maximum height can be set to include any roof-mounted equipment. The height stored, for example, in the vehicle can then always include the roof-mounted equipment, regardless of its actual presence.

[0035] The height of the vehicle can therefore be measured not only up to the roof, but also including any existing or potentially existing roof equipment. This is particularly advantageous for avoiding any collision with objects that may not be recognized as obstacles because the height of the vehicle, and thus the maximum height, was underestimated.

[0036] In another exemplary embodiment, the driving path is limited by a predetermined minimum height which depends on a position of the at least one sensor device in the motor vehicle and / or an opening angle of the sensor device in the vertical direction. An object described by the sensor data is in particular only detected as the obstacle if it is located at least partially above or at the predetermined minimum height within the driving path in the vertical direction. The minimum height can therefore be 40 centimeters, for example, for sensor devices that are arranged in a lower area of ​​the motor vehicle in the vertical direction, such as on its bumper. Higher or lower minimum heights are possible.Furthermore, if the sensor device has a comparatively small opening angle in the vertical direction (vertical direction), it may be useful to use the minimum height to indicate which areas can no longer be detected. Such small opening angles in the vertical direction can be the case, for example, with a front camera located in the upper area of ​​the windshield. Although this camera has a large detection range in the horizontal direction, it is not designed to detect areas further up in the vertical direction, particularly in the vertical direction, and these areas are only detected in a distorted manner, for example. Information about the sensor device should therefore help to select a sensible minimum height above which an object, and thus an obstacle, can be expected that could possibly be moved out of the detection range of the sensor device.Thus, sensible limitations of the height range are provided so that precisely those objects can be identified as obstacles that may be moving outside the detection range of the sensor device while the motor vehicle is moving towards the destination. A preferred embodiment provides that the driving assistant at least partially automatically, in particular fully automatically, follows a driving trajectory learned in a learning mode from a starting location to the destination. The driving assistant can therefore be operated in learning mode as well as in a follow-up mode or departure mode. In learning mode, for example, the driver can specify a specific driving trajectory from any starting location to the destination by manually following it.This predetermined driving trajectory is then saved, and if necessary, a map of the surroundings is generated and stored to locate the motor vehicle relative to the starting location and / or destination and / or the driving trajectory. The stored information from the learning mode is stored, for example, in the memory device. As soon as the driving assistant is activated at least in the vicinity of the learned starting location and / or destination, for example in spatial proximity to the starting location or at the starting location itself, it can preferably fully automatically follow the driving trajectory learned and thus learned in the learning mode. For this purpose, the driving assistant can, for example, control longitudinal and / or lateral guidance of the motor vehicle. Such a driving assistant is called a learned or trained driving assistant and is particularly suitable for the method according to the invention.

[0037] However, it may be provided that a differently configured driver assistant, for example, plans a current driving trajectory from its current starting point to a destination identified as the destination and executes this trajectory at least partially automatically, preferably fully automatically. The method is therefore fundamentally useful for any driver assistant or other driver assistance system in the context of a partially automatic, particularly fully automatic, execution of a determined or learned driving trajectory. Instead of the driver assistant, for example, a reversing assistant can be used, which, for example, retraces a previously traveled trajectory and detects the obstacle in the process.

[0038] Another exemplary embodiment provides that the obstacle is an at least partially open garage door. The garage door can be a roller shutter or a sectional door. The garage door is opened upwards, viewed in the vertical direction. Alternatively or additionally, the obstacle can be a barrier and / or part of a static object, such as a tree. It can be a branch of a tree that protrudes into the driving path, for example. Alternative or additional obstacles that can be moved upwards out of the driving path of the motor vehicle, for example in the vertical direction, are conceivable. A further aspect of the invention relates to a control device for a motor vehicle. The control device is designed to carry out the method described above.The control device carries out the described method, in particular an embodiment or a combination of embodiments of the described method. The control device comprises, for example, a processor device. This can comprise at least one microprocessor, microcontroller, FPGA (Field Programmable Gate Array), and / or DSP (Digital Signal Processor). Furthermore, it can comprise program code, which can alternatively be referred to as a computer program product. The program code can be stored in a data memory of the processor device.

[0039] Another aspect of the invention relates to a motor vehicle. The motor vehicle can have the control device and, for example, the at least one sensor device. The motor vehicle is designed to carry out the method described above. The motor vehicle is, for example, a passenger car, a truck, a bus, a motorcycle, and / or a moped.

[0040] A further aspect of the invention relates to a computer program product. The computer program product is a computer program. The computer program product comprises instructions that, when the program is executed by a computer, such as by the control devices, cause the computer to perform the steps of the method according to the invention.

[0041] The exemplary embodiments described in connection with the method according to the invention, both individually and in combination with one another, apply accordingly, to the motor vehicle according to the invention, the control device according to the invention, and the computer program product according to the invention, as applicable. The invention encompasses combinations of the described exemplary embodiments.

[0042] Showing:

[0043] Fig. 1 is a schematic representation of a motor vehicle approaching a garage; and

[0044] Fig. 2 shows a schematic representation of a signal flow diagram of a method for operating a driver assistant for a motor vehicle. In the figures, functionally identical elements are provided with the same reference numerals.

[0045] Fig. 1 shows a motor vehicle 1. The motor vehicle 1 has a control device 2. The control device 2 can include a driving assistant 3. The motor vehicle 1 has the driving assistant 3. The driving assistant 3 is designed, for example, to at least partially automatically, in particular fully automatically, follow a driving trajectory 15 learned in a learning mode from a starting location 13 to a destination 14. The driving assistant 3 can be designed, in particular, for trained parking. Other embodiments of the driving assistant 3 are possible.

[0046] The motor vehicle 1 has a sensor device 4. This can be designed, for example, as a front camera 5a, for example in the region of a bumper of the motor vehicle 1. Alternatively or additionally, it can comprise a front camera 5b, which is positioned in a vertical direction z in an upper region of a windshield of the motor vehicle 1. Alternatively or additionally, a side camera 6, which is positioned in particular on a side mirror of the motor vehicle 1, and / or a rear camera 7 can be provided. Alternatively or additionally, the motor vehicle 1 can have a plurality of ultrasonic sensors 8, which are installed in a lower region of the motor vehicle 1 in the vertical direction z, for example in the region of the bumper of the motor vehicle 1. Alternatively or additionally, the sensor device 4 can comprise at least one radar device and / or at least one lidar device (not sketched here).Other sensor devices 4 and / or other arrangements and numbers of sensor devices 4 in the motor vehicle 1 are possible. The arrangement shown here is to be understood purely as an example. The motor vehicle 1 can also have a roof device 19 on a roof of the motor vehicle 1.

[0047] The respective sensor device 4 is designed to detect at least part of the surroundings of the motor vehicle 1. Here, an obstacle 10 is located in front of the motor vehicle 1 in a direction of travel. This obstacle 10 is an opening garage door 11 of a garage 12. Alternatively or additionally, the obstacle 10 can be, for example, a barrier and / or a part of a static object, such as a branch of a tree or a tree.

[0048] The obstacle 10 is arranged relative to the motor vehicle 1 such that it is located in a travel path 9 of the motor vehicle 1 and is also arranged at a distance from a travel surface on which the motor vehicle 1 is located. The travel path 9 runs along a travel trajectory 15 and has, in the vertical direction z, at least a height of the motor vehicle 1 and, in a width direction y, at least a width of the motor vehicle 1. Viewed in the vertical direction z, the obstacle 10 is located in a predetermined height range 16. The height range 16 lies between a minimum height 17 and a maximum height 18.

[0049] The height range 16 can be limited by the predetermined maximum height 18, which corresponds to a height of the motor vehicle 1, in particular including a height tolerance range. If the roof device 19 is positioned on the roof of the motor vehicle 1, the predetermined maximum height 18 can take the roof device 19 into account. It can then, for example, be the sum of the height of the motor vehicle 1, the height of the roof device 19, and the height tolerance range. The height range 16 is also limited by the minimum height 17, which can depend on a position of the at least one sensor device 4 in the motor vehicle 1 and / or an opening angle of the sensor device 4 in the vertical direction z and thus in the vertical direction.

[0050] The motor vehicle 1 is moved from a current location, which can be referred to here as starting location 13, to a destination location 14 within the garage 12. For this purpose, a travel trajectory 15 is provided, which leads from the starting location 13 to the destination location 14. A location within the meaning of the invention comprises a position and thus a location coordinate as well as, for example, an orientation, which can be specified, for example, in the form of at least one angle.

[0051] Fig. 2 shows method steps of a method for operating the driving assistant 3 for the motor vehicle 1. The method is carried out, for example, by means of the control device 2. In a method step S1, the obstacle 10 is detected, which is located between the motor vehicle 1, that is to say between the starting location 13, and the destination 14 for the motor vehicle 1. It is also located at a distance from the driving surface in the driving path 9. Viewed in the vertical direction z, it therefore lies within the predetermined height range 16. The obstacle 10 is detected by evaluating sensor data 21, which are detected by the at least one sensor device 4 and provided by the control device 2 for carrying out the method. For this purpose, the sensor device 4 can, for example, transmit the sensor data 21 to the control device 2.An obstacle detection criterion 20 may be provided which is applied to the sensor data 21 in order to detect the obstacle 10 as such.

[0052] It is preferably provided that an object described by the sensor data 21 is only detected as the obstacle 10 if it is located in the vertical direction z at least partially below or at the predetermined maximum height 18 within the travel path 9 and / or if it is located in the vertical direction z at least partially above or at the predetermined minimum height 17 within the travel path 9. The obstacle 10 is always spaced from the travel floor, as is the case for the partially open garage door 11.

[0053] In a method step S2, a check is performed to determine whether the detected obstacle 10 is still located within a detection range 22 of the at least one sensor device 4 or whether it is located outside the detection range 22. This occurs while the motor vehicle 1 is moving toward the detected obstacle 10, i.e., during a movement along the travel trajectory 15. If it is determined that the detected obstacle 10 is located outside the detection range 22, the driving assistant 3 is operated in a method step S3 such that the approach to the obstacle 10 is at least interrupted by stopping the motor vehicle 1. This results in the motor vehicle 1 stopping at a stopping location 23 along the travel trajectory 15. In addition, a predetermined measure 24 is activated.

[0054] The measure 24 can, for example, in a situation A, comprise the motor vehicle 1 being moved at least partially automatically away from the obstacle 10, i.e. being moved away from the stopping location 23, until it has reached a detection location 25 that is different from the stopping location 23. At the detection location 25, the obstacle 10 is again located in the detection range 22 of the at least one sensor device 4. Here, it is sketched purely by way of example that the motor vehicle 1 is first moved from the starting location 13 along the travel trajectory 15 to the stopping location 23. From there, it then follows a new travel trajectory 26, for example by reversing, to the detection location 25 and, if appropriate, from there in the direction of the destination location 14. Furthermore, a first distance arrow 30 is drawn here between the stopping location 23 and the obstacle 10, which in this case is the garage door 11.In addition, a second distance arrow 31 is sketched, which shows a distance between the stopping location 23 and the detection location 25. The distance between the stopping location 23 and the detection location 25 and / or the distance between the obstacle 10 and the detection location 25 can be specified depending on the at least one sensor device 4, i.e., it depends, for example, on the location at which the obstacle 10 is again within the detection range 22 of the sensor device 4.

[0055] At the detection location 25, for example, it can be checked whether the obstacle 10 is still within the height range 16. The motor vehicle 1 is only moved, at least partially automatically, to the destination 14 when the obstacle 10 is no longer detected, i.e., when, for example, the opening garage door 11 is fully open. A previous obstacle 10, for example, is no longer an obstacle 10 when it has moved completely out of the travel path 9 or has been moved.

[0056] It can be provided that a time period 27 is recorded during which the obstacle 10 continues to be detected at the detection location 25. A check is then made to determine whether the recorded time period 27 is greater than a time period limit value 28. If it is less than or equal to the time period limit value 28, the system continues to wait, as outlined here for a method step S4. However, if the time period 27 exceeds the time period limit value 28, the driving assistant 3 of the motor vehicle 1 is deactivated. In a method step S5, it can therefore be determined that the time period 27 is greater than the time period limit value 28. The driving assistant 3 is then deactivated in a method step S6. This means that the driving maneuver is aborted. For example, the driver can then transition to manual operation of the motor vehicle 1 without the driving assistant 3.

[0057] As an alternative or in addition to situation A, an alternative measure 24 for a situation B is outlined. Here, for example, at the stopping location 23, it is checked whether an activation confirmation 29 was made by a driver or another user of the motor vehicle 1. For this purpose, the activation confirmation 29 is requested in advance in the motor vehicle 1, for example by a corresponding voice output and / or a display using a display device in the motor vehicle 1. The activation confirmation 29 can then be detected, for example, by an actuating device such as a key, a switch, a rotary push-button, a button and / or an element on a touch-sensitive screen. Alternatively or additionally, a voice input can be detected using a microphone in the motor vehicle 1 and / or the activation confirmation 29 can be carried out by gesture control.Only if the activation confirmation 29 is detected in a method step S7 can the motor vehicle 1 be moved at least partially automatically from the stopping location 23 to the destination 14. Alternatively or additionally, it can be provided that the motor vehicle 1 located at the detection location 25 is moved from the detection location 25 to the destination 14 after the activation confirmation 29 has been detected.

[0058] If the activation confirmation 29 is not recorded upon request, as outlined here for a process step S8, it can also be provided that the driving assistant 3 is deactivated in process step S6.

[0059] For example, after the activation confirmation 29 has been recorded, the sensor data 21 that at least partially describe the obstacle 10 are ignored. Preferably, they are deleted or overwritten.

[0060] Overall, the examples show the handling of non-driveable hanging objects, such as a half-open garage door 11 with an automated driving maneuver.

[0061] For example, the driver is asked to confirm that the garage door 11 is open in order to continue driving (method step S7). In such a case, in which the driver confirms that the garage door 11 is open in order to drive underneath it, it is suggested to ignore the object points within a threshold distance from the tracked position of the garage door 11. Therefore, the sensor data 21 that at least partially describe the obstacle 10 are preferably not further considered. The object points can be 3D spatial points or projected 2D map points, i.e., information from a point cloud or an image of the surroundings.

[0062] Alternatively or additionally, the motor vehicle 1 may plan a reverse movement limited by a threshold value in the longitudinal direction so that the garage door 11 is visible again, i.e. back in the detection area 22. As soon as the status of the garage door 11 is confirmed, the driving maneuver is continued if the garage door 11 is open or at least open enough for the motor vehicle 1 to drive underneath.

[0063] In automatically trained parking maneuvers, it is possible that the maneuvers are trained with the garage 12 as the target (destination location 14). It is likely that such garages 12 have a garage door 11 that can be fully open, fully closed, and partially closed. If the garage 12 is partially or fully closed during the active phase of the driving assistant 3, the motor vehicle 1 stops the maneuver by maintaining the longitudinal distance from the garage door 11. There is a high probability that the garage door 11 will be detected (either as classified information or in the form of obstacle points) as the motor vehicle 1 approaches, since it is in the field of view of the motor vehicle 1, but may disappear from the field of view before the motor vehicle 1 is stopped in response. When the motor vehicle 1 comes to a stop in front of the garage 12, it typically stops very close to the garage 12.There will be cases in which, due to the positioning of the motor vehicle 1 relative to the garage 12 (for example, uphill or downhill), it is extremely difficult to assess with certainty whether the garage door 11 is at least open to allow the motor vehicle 1 to pass through or not. This is primarily because the ultrasonic sensors 8 are usually located around a fender (at bumper height), so the detection of objects that are usually suspended at vehicle height is not possible. Furthermore, when the motor vehicle 1 is close to the garage door 11, the object is usually outside the field of view of a surround-view camera system. And even if the previous information from is used during the approach, it may be difficult to continue driving with certainty.

[0064] If the driving maneuver is interrupted due to hanging objects that can be driven under (obstacle 10), such as the half-open garage door 11, two measures 24 are proposed to continue driving.

[0065] In situation B, it is safe to continue driving because the driver has made the decision. Since the decision to continue driving is limited to the tracked position of the garage door 11 + threshold distance, the hanging objects blocking the path after this distance are again considered to take appropriate next steps. This makes operation safer despite the user's confirmation to continue driving. Situation A is more useful in cases where a higher degree of automation is expected from the driving assistant 3. An example would be an automated system where operation is autonomous and the driver is mostly not near or in the motor vehicle 1. In such a scenario, the motor vehicle 1 is more likely to be expected to make intelligent decisions to make the function available to the user.Thus, if situation A exists, motor vehicle 1 plans to reverse, limited by the distance threshold, to enter the field of view, check the status of garage door 11, and take the appropriate action, such as proceeding or aborting. This approach helps in difficult cases, such as when garage door 11 is located on an incline or decline, or when garage door 11 is suddenly moved forward due to lack of space. Reversing provides sufficient data to reliably assess the status of garage door 11 in such cases. The approaches are generally also applicable to other hanging objects, such as hanging tree trunks, hanging branches, and / or barriers.

Claims

Patent claims 1 . Method for operating a driving assistant (3) for a motor vehicle (1), comprising: - detecting (S1) an obstacle (10) located between the motor vehicle (1) and a destination (14) for the motor vehicle (1) by evaluating sensor data (21) of at least one sensor device (4) of the motor vehicle (1), wherein the obstacle (10) is arranged at a distance from a driving surface on which the motor vehicle (1) is located and is located at least partially in a driving path (9) of the motor vehicle (1); - while the motor vehicle (1) is moving towards the detected obstacle (10), checking (S2) whether the detected obstacle (10) is still within a detection range (22) of the at least one sensor device (4) or outside the detection range (22); and - if the detected obstacle (10) is located outside the detection range (22), operating (S3) the driving assistant (3) in such a way that the movement towards the obstacle (10) is at least interrupted by stopping the motor vehicle (1) and a predetermined measure (24) is activated.

2. The method according to claim 1, wherein the activated predetermined measure (24) comprises that the motor vehicle (1) is moved at least partially automatically away from the obstacle (10) until it has reached a detection location (25) which is different from a stopping location (23) at which the motor vehicle (1) was stopped, wherein at the detection location (25) the obstacle (10) is again in the detection range (22) of the at least one sensor device (4).

3. The method according to claim 2, wherein a distance between the stopping location (23) and the detection location (25) and / or a distance between the obstacle (10) and the detection location (25) is predetermined depending on the at least one sensor device (4).

4. Method according to claim 2 or 3, wherein at the detection location (25) it is checked whether the obstacle (10) is still located in the travel path (9), and the Motor vehicle (1) is only moved at least partially automatically to the destination (14) when the obstacle (10) is no longer detected in the driving path (9).

5. The method according to claim 4, wherein a time period (27) is detected in which the obstacle (10) continues to be detected at the detection location (25), and a check is carried out to determine whether the detected time period (27) is greater than a time period limit value (28), wherein as soon as this is the case, the driving assistant (3) of the motor vehicle (1) is deactivated.

6. The method according to claim 1 or one of claims 2 to 5, wherein the activated predetermined measure (24) comprises that an activation confirmation (29) of a user of the motor vehicle (1) is requested, wherein only if the activation confirmation (29) is detected, the motor vehicle (1) is moved at least partially automatically from the stopping location (23) or from the detection location (25) to the destination location (14).

7. The method according to claim 6, wherein after the detection of the activation confirmation (29), the sensor data (21) at least partially describing the obstacle (10) are disregarded, in particular are deleted.

8. Method according to one of the preceding claims, wherein the driving path (9) is limited by a predetermined maximum height (18) which corresponds to a height of the motor vehicle (1), in particular including a height tolerance range, so that an object which is described by the sensor data (21) is only detected as the obstacle (10) if it is located in the vertical direction at least partly below or at the predetermined maximum height (18) within the driving path (9).

9. The method according to claim 8, wherein it is checked whether a roof device (19) is positioned on a roof of the motor vehicle (1), and if this is the case, the predetermined maximum height (18) takes the roof device (19) into account.

10. Method according to one of the preceding claims, wherein the driving path (9) is limited by a predetermined minimum height (17) which depends on a position of the at least one sensor device (4) in the motor vehicle (1) and / or an opening angle of the sensor device (4) in the vertical direction, so that in particular, an object described by the sensor data (21) is only detected as the obstacle (10) if it is located in the vertical direction at least partially above or at the predetermined minimum height (17) within the travel path (9).

11. Method according to one of the preceding claims, wherein by means of the driving assistant (3) a driving trajectory (15) learned in a learning mode is driven at least partially automatically, in particular fully automatically, from a starting point (13) to the destination (14).

12. Method according to one of the preceding claims, wherein the obstacle (10) is an at least partially opened garage door (11), a barrier and / or a part of a static object, in particular a tree.

13. Control device (2) for a motor vehicle (1), wherein the control device (2) is designed to carry out a method according to one of the preceding claims.

14. Motor vehicle (1) with a control device (2), wherein the motor vehicle (1) is designed to carry out a method according to one of claims 1 to 12.

15. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform a method according to any one of claims 1 to 12.

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